Information processing device, information processing method, and computer readable medium for determining attachment state of in-vehicle camera

An information processing method executed by an information processing device, the method comprising:

• executing a posture estimation processing by extracting a pair group of line segments based on optical flows of a plurality of feature points on a road surface corresponding to each one of the line segments in the pair group from a processing target region set in a camera image captured by an in-vehicle camera and by estimating a posture of the in-vehicle camera based on an angle estimation value at which the in-vehicle camera is attached, the angle estimation value being estimated from pair data of the pair group, wherein the pair data includes data of a pair of the optical flows based on the plurality of feature points on the road surface;
• and
• determining that an attachment state of the in-vehicle camera is abnormal in response to a data accumulation number of the pair data being 1/10 or less of a preset reference value.

A non-transitory computer readable medium storing a program that causes a computer to execute a process comprising:

• executing a posture estimation processing by extracting a pair group of line segments based on optical flows of a plurality of feature points on a road surface corresponding to each one of the line segments in the pair group from a processing target region set in a camera image captured by an in-vehicle camera and by estimating a posture of the in-vehicle camera based on an angle estimation value at which the in-vehicle camera is attached, the angle estimation value being estimated from pair data of the pair group, wherein the pair data includes data of a pair of the optical flows based on the plurality of feature points on the road surface;
• and
• determining that an attachment state of the in-vehicle camera is abnormal in response to a data accumulation number of the pair data being 1/10 or less of a preset reference value.